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<div class="title">bvh.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment"> * bvh.h</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="comment"> *  Created on: Mar 7, 2013</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="comment"> *      Author: papazov</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_BVH_H_</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_BVH_H_</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;cstring&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;algorithm&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;{</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">namespace </span>recognition</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">class</span> UserData&gt;</div>
<div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h.html">   66</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html">BVH</a></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html">   69</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html">BoundedObject</a></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html">BoundedObject</a> (<span class="keyword">const</span> UserData&amp; data)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;            : data_ (data)</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;            {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;            }</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;            <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html">BoundedObject</a> ()</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;            {</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;            }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;            <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a02fc019accc25a0caad7f1c1bbc1dc75">   83</a></span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a02fc019accc25a0caad7f1c1bbc1dc75">compareCentroidsXCoordinates</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html">BoundedObject</a>* a, <span class="keyword">const</span> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html">BoundedObject</a>* b)</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;            {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;              <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">bool</span><span class="keyword">&gt;</span> (a-&gt;getCentroid ()[0] &lt; b-&gt;getCentroid ()[0]);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;            }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;            <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;            getBounds ()</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;            {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;              <span class="keywordflow">return</span> (bounds_);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;            }</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;            <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;            getCentroid ()</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;            {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;              <span class="keywordflow">return</span> (centroid_);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;            }</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span>*</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;            getCentroid ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;              <span class="keywordflow">return</span> (centroid_);</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;            }</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;            UserData&amp;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;            getData ()</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;            {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;              <span class="keywordflow">return</span> (data_);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;            }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;          <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a0d70526fd243b6b33ace9dbf29e08509">  114</a></span>&#160;            <span class="keywordtype">float</span> bounds_[6];</div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a660744a0cff70470db84dd29c9e1bce9">  116</a></span>&#160;            <span class="keywordtype">float</span> centroid_[3];</div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a1bf2ceb664f12586f1b35768cba2aef8">  118</a></span>&#160;            UserData <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a1bf2ceb664f12586f1b35768cba2aef8">data_</a>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        };</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">  122</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a263fb249db0e4ef904a1d72288a76a8d">  128</a></span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a263fb249db0e4ef904a1d72288a76a8d">Node</a> (std::vector&lt;BoundedObject*&gt;&amp; sorted_objects, <span class="keywordtype">int</span> first_id, <span class="keywordtype">int</span> last_id)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;            {</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;              <span class="comment">// Initialize the bounds of the node</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;              memcpy (bounds_, sorted_objects[first_id]-&gt;getBounds (), 6*<span class="keyword">sizeof</span> (<span class="keywordtype">float</span>));</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;              <span class="comment">// Expand the bounds of the node</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;              <span class="keywordflow">for</span> ( <span class="keywordtype">int</span> i = first_id + 1 ; i &lt;= last_id ; ++i )</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;                aux::expandBoundingBox(bounds_, sorted_objects[i]-&gt;getBounds());</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;              <span class="comment">// Shall we create children?</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;              <span class="keywordflow">if</span> ( first_id != last_id )</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;              {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;                <span class="comment">// Division by 2</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;                <span class="keywordtype">int</span> mid_id = (first_id + last_id) &gt;&gt; 1;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                children_[0] = <span class="keyword">new</span> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a>(sorted_objects, first_id, mid_id);</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                children_[1] = <span class="keyword">new</span> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a>(sorted_objects, mid_id + 1, last_id);</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;              }</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;              {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                <span class="comment">// We reached a leaf</span></div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                object_ = sorted_objects[first_id];</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                children_[0] = children_[1] = 0;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;              }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;            }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;            <span class="keyword">virtual</span> ~<a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a> ()</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;            {</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;              <span class="keywordflow">if</span> ( children_[0] )</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;              {</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                <span class="keyword">delete</span> children_[0];</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;                <span class="keyword">delete</span> children_[1];</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;              }</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;            }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;            <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;            hasChildren ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;              <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keywordtype">bool</span><span class="keyword">&gt;</span>(children_[0]);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;            }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;            Node*</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;            getLeftChild ()</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;            {</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;              <span class="keywordflow">return</span> children_[0];</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;            }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;            Node*</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;            getRightChild ()</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;            {</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;              <span class="keywordflow">return</span> children_[1];</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;            }</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            BoundedObject*</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;            getObject ()</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;            {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;              <span class="keywordflow">return</span> object_;</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;            }</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;            <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;            isLeaf ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;              <span class="keywordflow">return</span> !<span class="keyword">static_cast&lt;</span><span class="keywordtype">bool</span><span class="keyword">&gt;</span>(children_[0]);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;            }</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;            <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a6bf7463fab84a3b0064d569e2ba0946a">  194</a></span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a6bf7463fab84a3b0064d569e2ba0946a">intersect</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> box[6])<span class="keyword"> const</span></div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;              <span class="keywordflow">if</span> ( box[1] &lt; bounds_[0] || box[3] &lt; bounds_[2] || box[5] &lt; bounds_[4] ||</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;                   box[0] &gt; bounds_[1] || box[2] &gt; bounds_[3] || box[4] &gt; bounds_[5] )</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;                <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;              <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;            }</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;            <span class="keywordtype">double</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#ac12123768067d50b7123051657771675">  205</a></span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#ac12123768067d50b7123051657771675">computeBoundingBoxVolume</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="keyword">            </span>{</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;              <span class="keywordflow">return</span> (bounds_[1] - bounds_[0]) * (bounds_[3] - bounds_[2]) * (bounds_[5] - bounds_[4]);</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;            }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;            <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html">BVH</a>;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;          <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;            <span class="keywordtype">float</span> bounds_[6];</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a>* children_[2];</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html">BoundedObject</a>* object_;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        };</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html">BVH</a>()</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        : root_ (0),</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          sorted_objects_ (0)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <span class="keyword">virtual</span> ~BVH()</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        {</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          this-&gt;clear ();</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        }</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00237"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h.html#af16d3d466445c2e2206bd709dabe8727">  237</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html#af16d3d466445c2e2206bd709dabe8727">build</a>(std::vector&lt;BoundedObject*&gt;&amp; objects)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;          this-&gt;clear();</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;          <span class="keywordflow">if</span> ( objects.size () == 0 )</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;          sorted_objects_ = &amp;objects;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;          <span class="comment">// Now sort the objects according to the x-coordinates of their centroids</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;          std::sort (objects.begin (), objects.end (), BoundedObject::compareCentroidsXCoordinates);</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;          <span class="comment">// Create the root -&gt; it recursively creates the children nodes until each leaf contains exactly one object</span></div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;          root_ = <span class="keyword">new</span> <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a> (objects, 0, <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (objects.size () - 1));</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;        }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160; </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h.html#a8ac26c30f4bff3de64cba9f68ed7f035">  255</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html#a8ac26c30f4bff3de64cba9f68ed7f035">clear</a>()</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        {</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;          <span class="keywordflow">if</span> ( root_ )</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;          {</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;            <span class="keyword">delete</span> root_;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;            root_ = 0;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          }</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        }</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;        <span class="keyword">inline</span> <span class="keyword">const</span> std::vector&lt;BoundedObject*&gt;*</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;        getInputObjects ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;          <span class="keywordflow">return</span> (sorted_objects_);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;        }</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;        <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00273"></a><span class="lineno"><a class="line" href="classpcl_1_1recognition_1_1_b_v_h.html#acf13babff60c0b9fca8181a307dbb04e">  273</a></span>&#160;        <a class="code" href="classpcl_1_1recognition_1_1_b_v_h.html#acf13babff60c0b9fca8181a307dbb04e">intersect</a>(<span class="keyword">const</span> <span class="keywordtype">float</span> box[6], std::list&lt;BoundedObject*&gt;&amp; intersected_objects)<span class="keyword"> const</span></div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;          <span class="keywordflow">if</span> ( !root_ )</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;            <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;          <span class="keywordtype">bool</span> got_intersection = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;          <span class="comment">// Start the intersection process at the root</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;          std::list&lt;Node*&gt; working_list;</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;          working_list.push_back (root_);</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;          <span class="keywordflow">while</span> ( !working_list.empty () )</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;          {</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;            <a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">Node</a>* node = working_list.front ();</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;            working_list.pop_front ();</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;            <span class="comment">// Is &#39;node&#39; intersected by the box?</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;            <span class="keywordflow">if</span> ( node-&gt;<a class="code" href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a6bf7463fab84a3b0064d569e2ba0946a">intersect</a> (box) )</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;            {</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;              <span class="comment">// We have to check the children of the intersected &#39;node&#39;</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;              <span class="keywordflow">if</span> ( node-&gt;hasChildren () )</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;              {</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;                working_list.push_back (node-&gt;getLeftChild ());</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                working_list.push_back (node-&gt;getRightChild ());</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;              }</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;              <span class="keywordflow">else</span> <span class="comment">// &#39;node&#39; is a leaf -&gt; save it&#39;s object in the output list</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;              {</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;                intersected_objects.push_back (node-&gt;getObject ());</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;                got_intersection = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;              }</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;            }</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;          }</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;          <span class="keywordflow">return</span> (got_intersection);</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        }</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        Node* root_;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;        std::vector&lt;BoundedObject*&gt;* sorted_objects_;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    };</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  } <span class="comment">// namespace recognition</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;} <span class="comment">// namespace pcl</span></div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_RECOGNITION_BVH_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_bounded_object_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html">pcl::recognition::BVH::BoundedObject</a></div><div class="ttdef"><b>Definition:</b> bvh.h:70</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_bounded_object_html_a02fc019accc25a0caad7f1c1bbc1dc75"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a02fc019accc25a0caad7f1c1bbc1dc75">pcl::recognition::BVH::BoundedObject::compareCentroidsXCoordinates</a></div><div class="ttdeci">static bool compareCentroidsXCoordinates(const BoundedObject *a, const BoundedObject *b)</div><div class="ttdoc">This method is for std::sort.</div><div class="ttdef"><b>Definition:</b> bvh.h:83</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_bounded_object_html_a1bf2ceb664f12586f1b35768cba2aef8"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_bounded_object.html#a1bf2ceb664f12586f1b35768cba2aef8">pcl::recognition::BVH::BoundedObject::data_</a></div><div class="ttdeci">UserData data_</div><div class="ttdef"><b>Definition:</b> bvh.h:118</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_node_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html">pcl::recognition::BVH::Node</a></div><div class="ttdef"><b>Definition:</b> bvh.h:123</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_node_html_a263fb249db0e4ef904a1d72288a76a8d"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a263fb249db0e4ef904a1d72288a76a8d">pcl::recognition::BVH::Node::Node</a></div><div class="ttdeci">Node(std::vector&lt; BoundedObject * &gt; &amp;sorted_objects, int first_id, int last_id)</div><div class="ttdoc">'sorted_objects' is a sorted vector of bounded objects. It has to be sorted in ascending order accord...</div><div class="ttdef"><b>Definition:</b> bvh.h:128</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_node_html_a6bf7463fab84a3b0064d569e2ba0946a"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#a6bf7463fab84a3b0064d569e2ba0946a">pcl::recognition::BVH::Node::intersect</a></div><div class="ttdeci">bool intersect(const float box[6]) const</div><div class="ttdoc">Returns true if 'box' intersects or touches (with a side or a vertex) this node.</div><div class="ttdef"><b>Definition:</b> bvh.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_1_1_node_html_ac12123768067d50b7123051657771675"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h_1_1_node.html#ac12123768067d50b7123051657771675">pcl::recognition::BVH::Node::computeBoundingBoxVolume</a></div><div class="ttdeci">double computeBoundingBoxVolume() const</div><div class="ttdoc">Computes and returns the volume of the bounding box of this node.</div><div class="ttdef"><b>Definition:</b> bvh.h:205</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_html"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h.html">pcl::recognition::BVH</a></div><div class="ttdoc">This class is an implementation of bounding volume hierarchies. Use the build method to construct the...</div><div class="ttdef"><b>Definition:</b> bvh.h:67</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_html_a8ac26c30f4bff3de64cba9f68ed7f035"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h.html#a8ac26c30f4bff3de64cba9f68ed7f035">pcl::recognition::BVH::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Frees the memory allocated by this object. After that, you have to call build to use the tree again.</div><div class="ttdef"><b>Definition:</b> bvh.h:255</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_html_acf13babff60c0b9fca8181a307dbb04e"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h.html#acf13babff60c0b9fca8181a307dbb04e">pcl::recognition::BVH::intersect</a></div><div class="ttdeci">bool intersect(const float box[6], std::list&lt; BoundedObject * &gt; &amp;intersected_objects) const</div><div class="ttdoc">Pushes back in 'intersected_objects' the bounded objects intersected by the input 'box' and returns t...</div><div class="ttdef"><b>Definition:</b> bvh.h:273</div></div>
<div class="ttc" id="aclasspcl_1_1recognition_1_1_b_v_h_html_af16d3d466445c2e2206bd709dabe8727"><div class="ttname"><a href="classpcl_1_1recognition_1_1_b_v_h.html#af16d3d466445c2e2206bd709dabe8727">pcl::recognition::BVH::build</a></div><div class="ttdeci">void build(std::vector&lt; BoundedObject * &gt; &amp;objects)</div><div class="ttdoc">Creates the tree. No need to call clear, it's called within the method. 'objects' is a vector of poin...</div><div class="ttdef"><b>Definition:</b> bvh.h:237</div></div>
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